相关论文: Bridging Language, Vision and Action: Multimodal V…

In just three years, Variational Autoencoders (VAEs) have emerged as one of the most popular approaches to unsupervised learning of complicated distributions. VAEs are appealing because they are built on top of standard function…

Embodied AI is widely recognized as a cornerstone of artificial general intelligence (AGI) because it involves controlling embodied agents to perform tasks in the physical world. Building on the success of large language models (LLMs) and…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

Multimodal large language models (MLLMs) have demonstrated impressive capabilities across various vision-language tasks. However, a generalist MLLM typically underperforms compared with a specialist MLLM on most VL tasks, which can be…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

As deep neural networks become more adept at traditional tasks, many of the most exciting new challenges concern multimodality---observations that combine diverse types, such as image and text. In this paper, we introduce a family of…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

Large language models excel at a wide range of complex tasks. However, enabling general inference in the real world, e.g., for robotics problems, raises the challenge of grounding. We propose embodied language models to directly incorporate…

Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with contact-rich tasks that require fine-grained control…

The surrogate loss of variational autoencoders (VAEs) poses various challenges to their training, inducing the imbalance between task fitting and representation inference. To avert this, the existing strategies for VAEs focus on adjusting…

The high cost of acquiring labels is one of the main challenges in deploying supervised machine learning algorithms. Active learning is a promising approach to control the learning process and address the difficulties of data labeling by…

Multimodal Variational Autoencoders (VAEs) have been the subject of intense research in the past years as they can integrate multiple modalities into a joint representation and can thus serve as a promising tool for both data classification…

Building scalable models to learn from diverse, multimodal data remains an open challenge. For vision-language data, the dominant approaches are based on contrastive learning objectives that train a separate encoder for each modality. While…

With the ever-increasing amount of data, the central challenge in multimodal learning involves limitations of labelled samples. For the task of classification, techniques such as meta-learning, zero-shot learning, and few-shot learning…

Recent studies have demonstrated Large Language Models (LLMs) can extend their zero-shot generalization capabilities to multimodal learning through instruction tuning. As more modalities and downstream tasks are introduced, negative…

Variational AutoEncoders (VAEs) provide a means to generate representational latent embeddings. Previous research has highlighted the benefits of achieving representations that are disentangled, particularly for downstream tasks. However,…

Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…

Multimodal variational autoencoders (VAEs) have shown promise as efficient generative models for weakly-supervised data. Yet, despite their advantage of weak supervision, they exhibit a gap in generative quality compared to unimodal VAEs,…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

The alignment of vision-language representations endows current Vision-Language Models (VLMs) with strong multi-modal reasoning capabilities. However, the interpretability of the alignment component remains uninvestigated due to the…